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characters, which Unicode thoroughly and intuitively defines in the same way that humans think about characters
"Character" is a somewhat vague term, and Unicode prefers to use more specific terms like "code unit", "code point", "abstract character", etc.
In this case I think you may be referring to grapheme clusters, which come closer to how "humans think about characters" than Unicode abstract characters, which are building blocks of the technical encoding standard but in some cases don't really match a human concept of a graphical element of a writing system.
See also “Characters” and Grapheme Clusters in section 2.11 of https://www.unicode.org/versions/Unicode12.0.0/ch02.pdf, for example.